Parking camera system and method of driving the same

ABSTRACT

The present invention relates to a parking camera system and a method of driving the same, the system including a plurality of cameras equipped with a vehicle, an image synthesizer for synthesizing images photographed by the plurality of cameras, and an estimated travel trajectory generating and overlaying processor for generating an estimated travel trajectory of the vehicle by receiving steering angle information of the vehicle, and synthesizing the estimated travel trajectory of the vehicle with the images synthesized by the image synthesizer.

TECHNICAL FIELD

The teachings in accordance with the exemplary embodiments of thisinvention relate generally to a parking camera system and a method ofdriving the same.

BACKGROUND ART

Concomitant with development trends in vehicles, the vehicles arerecently provided with stability and various other conveniences, inaddition to basic traveling performances, and a plurality of sensors areapplied in and out of a vehicle body to enable detection of a scene andan environment of an area around the vehicle while sitting inside thevehicle.

Most of the drivers have difficulty in parking. That is, it is difficultto park due to stolidity to distance of adjacent objects during parkingof a vehicle. Furthermore, the parking becomes more difficult due togradually narrowing parking lots caused by increased number of vehicles.Especially, the difficulty in parking looms larger to novice drivers dueto failure to measure an adequate distance to objects resultant frominexperience.

The problem is that even an experienced driver can hit another vehicleor a wall existing in front of or at rear of his or her vehicle due tofailure to measure a distance to obstructive objects during parking in anarrow space, resulting in property damage. Particularly, in case ofreversely driving a vehicle, a driver even cannot grasp a presence of anobject let alone a distance measurement, which frequently happens to anovice driver and an experienced driver as well.

DISCLOSURE OF INVENTION Technical Problem

The present invention is directed to solve the aforementioned problems,disadvantages or shortcomings, and to provide a parking camera systemcapable of recognizing an obstructive object present in front of avehicle during vehicle parking by viewing images of substantially alldirections of the vehicle, and performing an accurate parking whileviewing an estimated travel trajectory of the vehicle, and a method ofdriving the same.

Technical problems to be solved by the present invention are notrestricted to the above-mentioned, and any other technical problems notmentioned so far will be clearly understood from the followingdescription by skilled in the art.

Solution to Problem

An object of the invention is to solve at least one or more of the aboveproblems and/or disadvantages in whole or in part and to provide atleast the advantages described hereinafter. In order to achieve at leastthe above objects, in whole or in part, and in accordance with thepurposes of the invention, as embodied and broadly described, and in onegeneral aspect of the present invention, there is provided a parkingcamera system, the system including: a plurality of cameras equippedwith a vehicle; an image synthesizer for synthesizing imagesphotographed by the plurality of cameras; and an estimated traveltrajectory generating and overlaying processor for generating anestimated travel trajectory of the vehicle by receiving steering angleinformation of the vehicle, and synthesizing the estimated traveltrajectory of the vehicle with the images synthesized by the imagesynthesizer.

Preferably, the plurality of cameras includes a first camera installedin front of the vehicle, a second camera installed at a rear of thevehicle, a third camera installed at a left side of the vehicle, and afourth camera installed at a right side of the vehicle.

Preferably, the parking camera system further includes a memory storedwith a parking guide line of the vehicle, a parking area image and avehicle image.

Preferably, the memory is further stored with a parking mode image, aparking direction image and a warning phrase image.

Preferably, the image synthesizer synthesizes at least one or more ofthe parking guide line, the parking area image and vehicle image storedin the memory with images photographed by the cameras.

Preferably, the estimated travel trajectory generating and overlayingprocessor is connected to a display unit displaying an ambient image ofvehicle synthesized with the estimated travel trace of the vehicle.

Preferably, the ambient images of vehicle synthesized with the estimatedtravel trajectory of the vehicle are displayed about the vehicle imageon the display unit, wherein an image photographed by the first camerais positioned at the front of the vehicle image, an image photographedby the second camera is positioned at the rear of the vehicle image, animage photographed by the third camera is positioned at the left side ofthe vehicle image, and an image photographed by the fourth camera ispositioned at the right side of the vehicle image.

Preferably, the estimated travel trajectory of the vehicle is displayedon the display unit in the form of a polygon or a direction indication.

Preferably, the estimated travel trajectory is displayed on the displayunit changed in real time in response to change of a steering angle ofvehicle.

Preferably, the estimated travel trajectory generating and overlayingprocessor is such that the steering wheel of the vehicle calculatescoordinates turned to a predetermined steering angle between a maximumsteering angle and a minimum steering angle, and dotted lines connectingthe coordinates generate the estimated travel trajectory of the vehicle.

In another general aspect of the present invention, there is provided amethod of driving a parking camera system, the method including:synthesizing images photographed by a plurality of cameras equipped witha vehicle; generating an estimated travel trajectory of the vehicle byreceiving steering angle information of the vehicle; and synthesizingthe estimated travel trajectory with the synthesized images.

Preferably, the method is further including displaying the synthesizedimages and an image synthesized with the estimated travel trajectory ona display unit, after the step of synthesizing the estimated traveltrajectory with the synthesized images.

Preferably, the estimated travel trajectory of the vehicle is displayedon the display unit by being changed in real time in response to changeof a steering angle of vehicle.

Preferably, the images synthesized with images photographed by theplurality of cameras are images of substantially all-around views.

In still another general aspect of the present invention, there isprovided a method of driving a parking camera system, the methodincluding: selecting a parking image from images of all-around views ofa vehicle; and combining an estimated travel trajectory of a vehiclegenerated by steering angle information of the vehicle with a parkingarea of the all-around views of the vehicle.

Preferably, the all-around views of the vehicle are made by synthesizingimages photographed by a plurality of cameras equipped with the vehicleand are substantially all-around views of the vehicle.

Preferably, the step of selecting the parking image from images ofall-around views of the vehicle is further including selecting a parkingmode from the all-around views of the vehicle.

Preferably, the parking mode includes a parallel parking and a rightangle parking.

Preferably, in case the parking area is selected, the selected parkingarea is combined with parking guide line information.

Preferably, colors of estimated travel trajectory of vehicle aredifferent when the estimated travel trajectory matches the parking guideline and when the estimated travel trajectory does not match the parkingguide line.

Advantageous Effects of Invention

The parking camera system and method of driving the same according tothe present invention thus configured have advantageous effects in thata driver can view images of substantially all-around views of a vehicleto enable the driver to recognize an obstructive object present in frontof a vehicle during vehicle parking, and perform an accurate parkingwhile viewing an estimated travel trajectory of the vehicle.

The parking camera system and method of driving the same according tothe present invention thus configured have further advantageous effectsin that a driver can adjust a steering wheel to prevent an estimatedtravel trajectory of the vehicle from deviating from a parking guideline and a parking area of the vehicle, in a case the estimated traveltrajectory of the vehicle deviates from the parking guide line and theparking area of the vehicle, thereby reducing inconveniences and timeloss resultant from parking failure.

BRIEF DESCRIPTION OF DRAWINGS

The teachings of the present invention can be readily understood byconsidering the following detailed description in conjunction with theaccompanying drawings, in which:

FIG. 1 is a block diagram illustrating a parking camera system accordingto the present invention;

FIG. 2 is a block diagram illustrating constituent elements that may beadded to a parking camera system according to an exemplary embodiment ofthe present invention;

FIG. 3 is a mimetic diagram illustrating synthesis of imagesphotographed by cameras of a parking camera system according to thepresent invention;

FIG. 4 is a schematic view illustrating an example where imagesphotographed by cameras of parking camera system according to anexemplary embodiment of the present invention are synthesized anddisplayed on a display unit.

FIG. 5 is a conceptual diagram illustrating a method calculating anestimated travel trajectory of a parking camera system according to anexemplary embodiment of the present invention;

FIG. 6 is a flowchart illustrating a method of driving a parking camerasystem according to an exemplary embodiment of the present invention;

FIG. 7 is a flowchart illustrating a method of driving a parking camerasystem according to another exemplary embodiment of the presentinvention;

FIG. 8 is a schematic view illustrating a screen of a display unitselecting a parking mode in a method of driving a parking camera systemaccording to an exemplary embodiment of the present invention; and

FIGS. 9 a and 9 b are schematic views illustrating a screen of a displayunit displaying an estimated travel trajectory of a vehicle in a parkingarea under a parking mode of a method of driving a parking camera systemaccording to an exemplary embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

The following description is not intended to limit the invention to theform disclosed herein. Consequently, variations and modificationscommensurate with the following teachings, and skill and knowledge ofthe relevant art are within the scope of the present invention. Theembodiments described herein are further intended to explain modes knownof practicing the invention and to enable others skilled in the art toutilize the invention in such, or other embodiments and with variousmodifications required by the particular application(s) or use(s) of thepresent invention.

As may be used herein, the terms “substantially” and “approximately”provide an industry-accepted tolerance for its corresponding term and/orrelativity between items. Such an industry-accepted tolerance rangesfrom less than one percent to ten percent and corresponds to, but is notlimited to, component values, angles, et cetera.

Now, exemplary embodiment of the present invention will be described indetail with reference to the accompanying drawings.

FIG. 1 is a block diagram illustrating a parking camera system accordingto the present invention, and FIG. 2 is a block diagram illustratingconstituent elements that may be added to a parking camera systemaccording to an exemplary embodiment of the present invention.

A parking camera system (100) according to the present inventionincludes a plurality of cameras (101, 102, 103, 104) equipped with avehicle, an image synthesizer (110) for synthesizing images photographedby the plurality of cameras (101, 102, 103, 104) equipped with thevehicle, and an estimated travel trajectory generating and overlayingprocessor (120) for generating an estimated travel trajectory of thevehicle by receiving steering angle information of the vehicle, andsynthesizing the estimated travel trajectory of the vehicle with theimages synthesized by the image synthesizer (110).

The plurality of cameras (101, 102, 103, 104) equipped with the vehicleincludes a first camera (101) installed in front of the vehicle, asecond camera (102) installed at a rear of the vehicle, a third camera(103) installed at a left side of the vehicle, and a fourth camera (104)installed at a right side of the vehicle. That is, the plurality ofcameras (101, 102, 103, 104) is equipped with the vehicle to capturesubstantially all-around views of the vehicle. Therefore, the parkingcamera system (100) according to the present invention is operated insuch a fashion that images photographed by the plurality of cameras(101, 102, 103, 104) are synthesized by the image synthesizer (110), theestimated travel trajectory generating and overlay processor (120)receives steering angle information of the vehicle that changes inresponse to adjustment of steering wheel by a driver to generate anestimated travel trajectory, and synthesizes the image synthesized bythe image synthesizer (110) with the estimated travel trajectory forutilization in parking the vehicle.

Furthermore, the estimated travel trajectory generating and overlayingprocessor (120) may be connected to a display unit displaying an ambientimage of vehicle synthesized with the estimated travel trace of thevehicle. Thus, a display unit (230) displays images of ambientconditions of vehicle synthesized with the estimated travel trajectory,and the driver of the vehicle mounted with parking camera system canadvantageously view substantially all-around images of the vehicle,whereby the driver can recognize an obstacle present in front of thevehicle during parking of the vehicle, and perform an accurate parkingwhile viewing the estimated travel trajectory of the vehicle.

Furthermore, a controller (130) can receive steering angle informationof the vehicle in real time through CAN (Controller Area Network)communication with an external communication unit (210) and via atransceiver unit (140), and can also receive vehicle speed information.The communication unit (210) may be configured to directly receivesteering angle information from a steering angle measuring deviceincluded with a steering angle sensor. The communication unit (210) maybe also configured to receive the steering angle information from anequivalent device equipped with the vehicle capable of receiving thesteering angle information. At this time, the steering angle sensormeasures a steering degree of steering wheel necessary for controlling atravelling vehicle.

The estimated travel trajectory generating and overlaying processor(120) generates the estimated travel trajectory of the vehicle using thesteering angle information received from the controller (130).

Referring to FIG. 2, the parking camera system (100) according to thepresent invention may further include a memory (150) stored with aparking guide line of the vehicle, a parking area image and a vehicleimage. The image synthesizer (110) may synthesize at least one or moreof the parking guide line, the parking area image and vehicle imagestored in the memory (150) with images photographed by the cameras.

Although not described in the figure, the estimated travel trajectorygenerating and overlaying processor (120) may synthesize at least one ormore of the parking guide line, the parking area image and vehicle imagestored in the memory (150) with images photographed by the cameras andthe estimated travel trajectory.

At this time, the memory (150) may be a flash memory, and may be furtherstored with images including, but not limited to a parking mode, aparking direction and a warning phase. The parking guide line in theimages may be stored with various images in response to the parking mode(parallel parking, right angle parking) and the parking direction (leftdirection or right direction).

Meanwhile, the controller (130) may be configured to output a warningsound to a speaker (220) for the driver to recognize a time when theestimated travel trajectory of vehicle matches the parking guide lineand a time when the estimated travel trajectory does not match theparking guide line, as illustrated in FIG. 1.

Furthermore, the parking camera system (100) according to the presentinvention may further include an input unit (250) capable of allowingthe driver to select and input a parking mode including a parallelparking or a right angle parking. Still furthermore, an input signalselected by the input unit (250) is inputted to the controller (130),which in turn outputs to the image synthesizer (110) the parking guideline and the image of the parking area stored in the memory (150)according to the parking mode of the selected input signal.

Therefore, the parking camera system (100) according to the presentinvention is operated in such a manner that if an estimated traveltrajectory of the vehicle deviates from the parking guide line and theparking area of the vehicle, the driver adjusts the steering wheel toprevent the vehicle from deviating from the parking guide line and theparking area of the vehicle, thereby reducing inconveniences and timeloss resultant from parking failure.

Furthermore, the parking camera system (100) according to the presentinvention can advantageously recognize an estimated travel trajectory ofthe vehicle to prevent the vehicle from creating a fender bender with aparked vehicle.

FIG. 3 is a mimetic diagram illustrating synthesis of imagesphotographed by cameras of a parking camera system according to thepresent invention, and FIG. 4 is a schematic view illustrating anexample where images photographed by cameras of parking camera systemaccording to an exemplary embodiment of the present invention aresynthesized and displayed on a display unit.

A plurality of cameras is equipped with a vehicle to capture all-aroundviews of the vehicle. At this time, the plurality of cameras preferablyincludes a first camera (101) installed in front of the vehicle, asecond camera (102) installed at a rear of the vehicle, a third camera(103) installed at a left side of the vehicle, and a fourth camera (104)installed at a right side of the vehicle, where the first camera (101)captures a front image of the vehicle, the second camera (102) capturesa rear image of the vehicle, the third camera (103) captures an image ofthe left side of the vehicle, and the fourth camera (104) captures animage of the right side of the vehicle.

Thus, the images photographed by the plurality of cameras (101, 102,103, 104) are synthesized as mentioned above. For example, the imagephotographed by the first camera (101) is positioned at a front side (A)of a vehicle image about the vehicle image, and the image photographedby the second camera (102) is positioned at a rear side (B) of thevehicle image. Then, the image photographed by the third camera (103) ispositioned at a left side (C) of the vehicle image about the vehicleimage, and the image photographed by the fourth camera (104) ispositioned at a right side (D) of the vehicle image. Thereafter, thefour images are synthesized. As a result, the images photographed by thefirst to fourth cameras (101, 102, 103, 104) are synthesized to bedisplayed on the display unit, as illustrated in FIG. 4.

That is, because an image (310) captured from a front side of a vehicleimage (10), an image (320) captured from a rear side of the vehicleimage (10), an image (330) captured from a left side of the vehicleimage (10), and an image (340) captured from a right side of the vehicleimage (10) are positioned at each relevant position based on the vehicleimage (10), the driver can immediately check the vehicle images (10) offront, rear, left and right sides from the display unit, therebyovercoming an obstacle during parking and performing a safe parking.Furthermore, if the driver selects an image photographed from aparticular direction, the display unit may display only the image ofparticular direction.

FIG. 5 is a conceptual diagram illustrating a method calculating anestimated travel trajectory of a parking camera system according to anexemplary embodiment of the present invention.

The estimated travel trajectory of vehicle generates a plurality ofcoordinates inside a travel trajectory based on a maximum steering angle(e.g., 540° or 720°) in consideration of vehicular characteristic whenthe cameras are turned on, a travel trajectory (a travel trajectory whenthe steering wheel is maximally rotated) and a travel trajectory of aminimum steering angle (a linear travel trajectory when the steeringwheel is not rotated).

In a non-limiting example, in a case the driver rotates the steeringwheel to a predetermined steering angle between the maximum steeringangle and the minimum steering angle, coordinates of ‘Pn-1’, ‘Pn-2’,‘Pn-3’ and ‘Pn-4’ may be calculated in response to the predeterminedsteering angle, and dotted lines connecting the coordinates become theestimated travel trajectory of the vehicle.

At this time, the communication unit may be configured by directlyreceiving steering angle information from a steering angle measurementdevice included with a steering angle sensor, or may be alternativelyconfigured by receiving the steering angle information from anequivalent device equipped with the vehicle capable of receiving thesteering angle information. The steering angle sensor measures asteering degree of the steering wheel necessary for control of thetraveling vehicle.

Thereafter, a transceiver of the parking camera system according to thepresent invention transmits the steering angle information to thecontroller by receiving the steering angle information of the vehicle inreal time through CAN (Controller Area Network) communication from thecommunication unit, and the estimated travel trajectory and overlayingprocessor calculates coordinates in proportion to a travel trajectory ofthe maximum steering angle using the steering angle information receivedfrom the controller, connects each coordinates and generates theestimated travel trajectory of the vehicle.

To be more specific, x coordinate and y coordinate of the estimatedtravel trajectory may be respectively determined by the followingEquations, where a parking end point of four points is exemplified.

x _(n-4) =x ₀₋₄ −Δx  [Equation 1]

y _(n-4) =y ₀₋₄ −Δy  [Equation 2]

At this time, the variable (Δx) of x coordinate is(x₀₋₄−x_(e-4))/(θc/θ_(m))′ the variable (Δy) of y coordinate is(y₀₋₄−y_(e-4))/(θc/θ_(m))′ where θ_(m) is a maximum steering angle, andθ_(c) is a current steering angle.

FIG. 6 is a flowchart illustrating a method of driving a parking camerasystem according to an exemplary embodiment of the present invention.

First, images photographed by a plurality of cameras equipped with avehicle is synthesized (S100) in the method of driving a parking camerasystem according to the present invention. Next, steering angleinformation of the vehicle is received to generate an estimated traveltrajectory (S110). The synthesized images are synthesized with theestimated travel trajectory (S120), where the synthesized images maysubstantially realize images of all-around views of the vehicle based onpositions of the plurality of cameras equipped with the vehicle.Thereafter, a step of displaying the synthesized images and imagessynthesized with the estimated travel trajectory on the display unit maybe further included.

FIG. 7 is a flowchart illustrating a method of driving a parking camerasystem according to another exemplary embodiment of the presentinvention.

First, a parking area is selected of images of all-around views ofvehicle in the method of driving a parking camera system according toanother exemplary embodiment of the present invention (S200), whereimages of all-around views of vehicle are made by images synthesizedwith images photographed by the plurality of cameras equipped with thevehicle, and are substantially images of all-around views of thevehicle.

Successively, the estimated travel trajectory of vehicle generated bythe steering angle information of the vehicle is combined with theparking area with images of all-around views of the vehicle, where theestimated travel trajectory of the vehicle is displayed by beingcombined with the parking area with images of all-around views ofvehicle, and the parking area may be an actual parking area, or aparking area image overlapped on the actual parking area.

Furthermore, a step of selecting a parking mode from the images ofall-around views of vehicle is further included prior to the step ‘S200’where the step of ‘S200’ may be configured by selecting the parking areabased on the selected parking mode.

The parking mode includes a parallel parking and a right angle parking,and the selected parking mode is preferably one of the parallel parkingand the right angle parking.

In case the parking area is selected in the Step ‘S200’ the selectedparking area may be combined with parking guide line information.Therefore, the parking area may be displayed with the parking guide lineinformation and the estimated travel trajectory of vehicle based on theselected parking mode, in case the driver selects a parking area onwhich the vehicle is to be parked.

At this time, the parking guide line and the parking area are storedimages combined by the images, and may be provided in fixed images. Atthis time, in a case the parking area does not match an actual parkingarea, the vehicle may be driven forward or driven reversely to match theparking area with the actual parking area.

Furthermore, the estimated travel trajectory of the vehicle may bedisplayed on the display unit in the form of a polygon or a directionindication. In order to display the estimated travel trajectory of thevehicle, the shape of polygon is preferably displayed in the shape of atrapezoid for providing a prospective, and the shape of a directionindication is preferably displayed in the shape of an arrow. However,the shape of the estimated travel trajectory is not limited to theabovementioned shapes, and other various shapes may be displayed.

The estimated travel trajectory of the vehicle is changed and displayedin real time on the display unit based on the changing steering angle ofthe vehicle, whereby the driver can adjust the steering wheel foraccurate parking. For example, changed estimated travel trajectories maybe displayed on the display unit whenever the steering angle of thevehicle changes more than 20°.

Thus, the driver changes the estimated travel trajectory in response tomanipulation of the steering wheel to match the vehicle to the parkingguide line, and in a case the estimated travel trajectory matches theparking guide line, the driver can park the vehicle without manipulationof steering wheel.

Therefore, there is an advantage in the present invention that thedriver can easily park a vehicle by matching the estimated traveltrajectory to the parking guide line. At this time, in a case theestimated travel trajectory matches the parking guide line, the driveris made to recognize that parking is possible, by outputting theestimated travel trajectory in different color. The detailed color maybe variably changed based on driver preference and specification ofdisplay. That is, colors of the estimated travel trajectories of vehiclemay be differently set up, in a case the estimated travel trajectorymatches the parking guide line and in a case the estimated traveltrajectory does not match the parking guide line.

In a non-limiting example, in a case the estimated travel trajectorydoes not match the parking guide line, the estimated travel trajectorymay be displayed in blue color which is a first color, and in a case theestimated travel trajectory matches the parking guide line, theestimated travel trajectory may be displayed in green color which is asecond color.

MODE FOR THE INVENTION

FIG. 8 is a schematic view illustrating a screen of a display unitselecting a parking mode in a method of driving a parking camera systemaccording to an exemplary embodiment of the present invention, and FIGS.9 a and 9 b are schematic views illustrating a screen of a display unitdisplaying an estimated travel trajectory of a vehicle in a parking areaunder a parking mode of a method of driving a parking camera systemaccording to an exemplary embodiment of the present invention.

For reference, FIG. 8 and FIGS. 9 a and 9 b are exemplary figures forexplaining a method of driving a parking camera system according to thepresent invention, and therefore, explanation of the method is notrestricted to the given figures.

First, in a case the driver parks the vehicle in the parking camerasystem, an image capable of selecting a parking mode is outputted to thedisplay unit, where the display unit displays a screen included with aparking mode selection icon (20) as shown in FIG. 8, where an arrow ‘11’shows a direction right before the current point of the vehicle.

Furthermore, FIG. 9 a shows a selected parking mode being a right angleparking, and FIG. 9 b shows a selected parking mode being a parallelparking, where, in a case the driver manipulates the steering wheel toparking areas (30, 50) selected from respective parking modes, estimatedtravel trajectories (12, 13) are displayed on a screen of the displayunit.

At this time, the screen of the display unit may be displayed with an‘A’ direction (11 a) progressed by the vehicle right before the currentpoint, and a ‘B’ direction (11 b) of the estimated travel trajectory bythe steering angle in response to the manipulation of the steering wheelby the driver, and the vehicle is so displayed that it will progressfrom the A direction (11 a) to the B direction. Furthermore, the vehicleis displayed on the screen of the display unit as a vehicle image.

While the present invention has been particularly shown and describedwith reference to exemplary embodiments thereof, the general inventiveconcept is not limited to the above-described embodiments. It will beunderstood by those of ordinary skill in the art that various changesand variations in form and details may be made therein without departingfrom the spirit and scope of the present invention as defined by thefollowing claims.

INDUSTRIAL APPLICABILITY

The present invention has an industrial applicability in that a drivercan view images of substantially all-around views of a vehicle to enablethe driver to recognize an obstructive object present in front of avehicle during vehicle parking, and perform an accurate parking whileviewing an estimated travel trajectory of the vehicle.

1. A parking camera system, the system including: a plurality of camerasequipped with a vehicle; an image synthesizer for synthesizing imagesphotographed by the plurality of cameras; and an estimated traveltrajectory generating and overlaying processor for generating anestimated travel trajectory of the vehicle by receiving steering angleinformation of the vehicle, and synthesizing the estimated traveltrajectory of the vehicle with the images synthesized by the imagesynthesizer.
 2. The parking camera system of claim 1, wherein theplurality of cameras includes a first camera installed in front of thevehicle, a second camera installed at a rear of the vehicle, a thirdcamera installed at a left side of the vehicle, and a fourth camerainstalled at a right side of the vehicle.
 3. The parking camera systemof claim 1, further including a memory stored with a parking guide lineof the vehicle, a parking area image and a vehicle image.
 4. The parkingcamera system of claim 3, wherein the memory is further stored with aparking mode image, a parking direction image and a warning phraseimage.
 5. The parking camera system of claim 3, wherein the imagesynthesizer synthesizes at least one or more of the parking guide line,the parking area image and vehicle image stored in the memory withimages photographed by the cameras.
 6. The parking camera system ofclaim 2, wherein the estimated travel trajectory generating andoverlaying processor is connected to a display unit displaying anambient image of vehicle synthesized with the estimated travel trace ofthe vehicle.
 7. The parking camera system of claim 6, wherein theambient images of vehicle synthesized with the estimated traveltrajectory of the vehicle are displayed about the vehicle image on thedisplay unit, wherein an image photographed by the first camera ispositioned at the front of the vehicle image, an image photographed bythe second camera is positioned at the rear of the vehicle image, animage photographed by the third camera is positioned at the left side ofthe vehicle image, and an image photographed by the fourth camera ispositioned at the right side of the vehicle image.
 8. The parking camerasystem of claim 1, wherein the estimated travel trajectory of thevehicle is displayed on the display unit in the form of a polygon or adirection indication.
 9. The parking camera system of claim 8, whereinthe estimated travel trajectory is displayed on the display unit changedin real time in response to change of a steering angle of vehicle. 10.The parking camera system of claim 1, wherein the estimated traveltrajectory generating and overlaying processor is such that the steeringwheel of the vehicle calculates coordinates turned to a predeterminedsteering angle between a maximum steering angle and a minimum steeringangle, and dotted lines connecting the coordinates generate theestimated travel trajectory of the vehicle.
 11. A method of driving aparking camera system, the method including: synthesizing imagesphotographed by a plurality of cameras equipped with a vehicle;generating an estimated travel trajectory of the vehicle by receivingsteering angle information of the vehicle; and synthesizing theestimated travel trajectory with the synthesized images.
 12. The methodof driving a parking camera system of claim 11, further includingdisplaying the synthesized images and an image synthesized with theestimated travel trajectory on a display unit, after the step ofsynthesizing the estimated travel trajectory with the synthesizedimages.
 13. The method of driving a parking camera system of claim 12,wherein the estimated travel trajectory of the vehicle is displayed onthe display unit by being changed in real time in response to change ofa steering angle of vehicle.
 14. The method of driving a parking camerasystem of claim 11, wherein the images synthesized with imagesphotographed by the plurality of cameras are images of substantiallyall-around views.
 15. A method of driving a parking camera system, themethod including: selecting a parking image from images of all-aroundviews of a vehicle; and combining an estimated travel trajectory of avehicle generated by steering angle information of the vehicle with aparking area of the all-around views of the vehicle.
 16. The method ofdriving a parking camera system of claim 15, wherein the all-aroundviews of the vehicle are made by synthesizing images photographed by aplurality of cameras equipped with the vehicle and are substantiallyall-around views of the vehicle.
 17. The method of driving a parkingcamera system of claim 15, wherein the step of selecting the parkingimage from images of all-around views of the vehicle further includesselecting a parking mode from the all-around views of the vehicle. 18.The method of driving a parking camera system of claim 17, wherein theparking mode includes a parallel parking and a right angle parking. 19.The method of driving a parking camera system of claim 15, wherein theselected parking area is combined with parking guide line information,in case the parking area is selected.
 20. The method of driving aparking camera system of claim 19, wherein colors of estimated traveltrajectory of vehicle are different, when the estimated traveltrajectory matches the parking guide line and when the estimated traveltrajectory does not match the parking guide line.